Moving device, non-transitory computer-readable medium, and control system

ABSTRACT

A moving device includes a transportation mechanism, a detector, and a controller. The transportation mechanism moves from a departure point to a destination point. The detector detects an obstacle existing on a path to the destination point. When the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, the controller controls the transportation mechanism to move to a location that does not impede traffic, and stand by.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority under 35 USC 119 fromJapanese Patent Application No. 2016-245401 filed Dec. 19, 2016.

BACKGROUND Technical Field

The present invention relates to a moving device, a non-transitorycomputer-readable medium, and a control system.

SUMMARY

According to an aspect of the invention, there is provided a movingdevice including a transportation mechanism, a detector, and acontroller. The transportation mechanism moves from a departure point toa destination point. The detector detects an obstacle existing on a pathto the destination point. When the detector detects that the obstacleexists on the path to the destination point, and another path to thedestination point does not exist, the controller controls thetransportation mechanism to move to a location that does not impedetraffic, and stand by.

BRIEF DESCRIPTION OF THE DRAWINGS

An exemplary embodiment of the present invention will be described indetail based on the following figures, wherein:

FIG. 1 is a system configuration diagram illustrating a configuration ofa service providing system according to an exemplary embodiment of thepresent invention;

FIG. 2 is a block diagram illustrating a hardware configuration of aserver according to an exemplary embodiment of the present invention;

FIG. 3 is a block diagram illustrating a hardware configuration of animage forming device according to an exemplary embodiment of the presentinvention;

FIG. 4 is a plan view illustrating an office to which an exemplaryembodiment is applied;

FIG. 5 is a flowchart illustrating a control flow of a server accordingto an exemplary embodiment of the present invention;

FIG. 6 is a diagram explaining path searching to which an exemplaryembodiment of the present invention has been applied;

FIG. 7 is a flowchart illustrating a control flow of an image formingdevice when an obstacle is detected on a path;

FIG. 8 is a diagram illustrating an example of operations by an imageforming device when an open path exists;

FIG. 9 is a diagram illustrating an example of operations by an imageforming device when an open path does not exist; and

FIG. 10 is a diagram illustrating an example of operations by an imageforming device when an open path does not exist.

DETAILED DESCRIPTION

Next, an exemplary embodiment of the present invention will be describedin detail and with reference to the drawings.

FIG. 1 is a system diagram illustrating a configuration of a serviceproviding system according to an exemplary embodiment of the presentinvention.

In the service providing system 1 according to an exemplary embodimentof the present invention, four personal computers 10 a to 10 d, a server12, and a wireless LAN terminal 14 are connected to each other via anetwork 16, for example. In addition, an image forming device 18 actingas a moving device that moves to provide services is configured totransmit and receive information such as print data to and from thewireless LAN terminal 14. Additionally, the service providing system 1is provided with a home position 20 that includes a power outlet and asolar power generation function. The image forming device 18 isconfigured to stand by in the home position 20.

The personal computers 10 a to 10 d send print data respectively createdby respective users to the server 12.

FIG. 2 is a block diagram illustrating a hardware configuration of theserver 12. As illustrated in FIG. 2, the server 12 includes a CPU 22,memory 24, a database 26, and a network interface 28, which areconnected to each other via a control bus 30.

The CPU 22 executes a predetermined process on the basis of a controlprogram stored in the memory 24, and controls the operations of theserver 12.

The memory 24 stores the control program and the print data discussedlater.

The database 26 stores a map of an installation location, such as anoffice where the personal computers 10 a to 10 d are installed, and theinstallation positions where the personal computers 10 a to 10 d areinstalled.

Note that in the present exemplary embodiment, the server 12 isconnected to the personal computers 10 a to 10 d via a wired network 16,but the server 12 may also be connected by a wireless LAN, or via theInternet as a cloud service.

As illustrated in FIG. 1, the image forming device 18 is self-propelled,and includes a main body 32, a wireless communication unit 34, sensors35 that acts as a detector, and a movement unit 36 that acts as atransportation mechanism.

The main body 32 is the portion that forms images, and prints print datareceived by the wireless communication unit 34 onto one or more sheetsof paper.

The sensors 35 are made up of a sensor 35 a provided on the upper partof the image forming device 18, a sensor 35 b provided on the lowerfront face of the image forming device 18, and a sensor 35 c (notillustrated) provided on the lower rear face of the image forming device18. The sensors 35 a, 35 b, and 35 c detect distance by laser light, forexample, and detect the surrounding state and obstacles existing along apath.

The sensor 35 a detects the full perimeter (360 degrees) around theimage forming device 18, and is used to detect obstacles and also todetect the position of the device itself. The sensor 35 b detects aregion of approximately 270 degrees from the lower front face of theimage forming device 18, and is used to detect obstacles. Meanwhile, thesensor 35 c detects a region of approximately 270 degrees from the lowerrear face of the image forming device 18, and is used to detectobstacles.

The movement unit 36 receives movement commands from the server 12, andcauses the image forming device 18 to move.

FIG. 3 is a block diagram illustrating a hardware configuration of theimage forming device 18. As illustrated in FIG. 3, the image formingdevice 18 includes a CPU 40, memory 42, an input/output unit 44, astorage device 45, and a wireless communication unit 34, which act as acontroller, and an image forming unit 46, the movement unit 36, and thesensors 35 a, 35 b, and 35 c, which act as a service providingmechanism.

The CPU 40 executes a predetermined process on the basis of a controlprogram stored in the memory 42.

The input/output unit 44 accepts input information input by the user,such as a user ID and password. The input/output unit 44 includes an IDinput unit by which a user ID is input via an IC card, for example. Inaddition, the input/output unit 44 is connected to a screen display dataoutput, buttons used for input, audio output via a speaker, and LEDs orthe like that display and output the status of the image forming device18, which act as a user interface.

The wireless communication unit 34 transmits and receives data via awireless link with the wireless LAN terminal 14.

The storage device 45 stores a map of an installation location, such asan office where the personal computers 10 a to 10 d are installed, theinstallation positions where the personal computers 10 a to 10 d areinstalled, and past traffic information on the map of the office orother installation location. Also, the storage device 45 stores a pastmovement history of the image forming device 18.

The image forming unit 46 is the portion that forms images, and printsprint data received by the wireless communication unit 34 onto one ormore sheets of paper.

When the CPU 40 receives a movement command from the server 12 discussedearlier via the wireless communication unit 34, the movement unit 36 iscontrolled in accordance with the movement command.

The sensors 35 a, 35 b, and 35 c detect obstacles existing along a pathto a destination point. Herein, obstacles encompass dynamic obstaclesthat move over time, such as people, and static obstacles that do notmove over time, such as objects.

In addition, if the sensors 35 a, 35 b, and 35 c detect an obstaclealong a path to a destination point, and another path to the destinationpoint does not exist, the CPU 40 controls the movement unit 36 to moveto a location that does not impede traffic, and stand by.

Also, in the case of controlling the movement unit 36 to stand by, theCPU 40 informs the user of information related to the standby location.

Herein, the information related to the standby location may beinformation indicating that the image forming device 18 is standing byat a standby location, information prompting the user to come to thestandby location, and the like. Also, the notification method mayinvolve transmitting an email or text notification to the origin fromwhich a print request is transmitted. Alternatively, when a printrequest is received, information related to the requester may bereceived together with the request, the mobile terminal of the requestermay be specified from the information related to the requester, and anotification may be issued to the specified mobile terminal. In thiscase, the notification may be issued as a function of an applicationlaunched on the mobile terminal.

FIG. 4 is a plan view illustrating an office 58 where the image formingdevice 18 is stationed.

The office 58 is divided into multiple areas, such as a conference area60, work areas 62 a to 62 d, and a reception area 64, for example. Ineach of these areas 60 to 64, many personal computers 10 are available.Also, a depository 66 that stores goods such as paper and toner is setup in the office 58. From this depository 66, multiple image formingdevices, such as two image forming devices 18 a and 18 b, for example,are able to take in paper and the like. The installation location of thedepository 66 may also be treated as the home position 20 of the imageforming devices 18 a and 18 b. In addition, the office 58 is providedwith multiple standby locations 70 where the image forming device 18stands by temporarily. Each standby location 70 may also be providedwith a power outlet and a solar power generation function. Also, amonitoring camera 68 is installed in the office 58.

FIG. 5 is a flowchart illustrating a control flow of the server 12. FIG.6 is a diagram explaining path searching in which an image formingdevice 18 a moves inside the office 58 from a departure point, namelythe home position 20, to a destination point, namely the desk of theuser of the personal computer 10 a.

First, in step S10, the server 12 receives print data from the multiplepersonal computers 10 a to 10 d. The print data includes a print job,the ID of a user using one of the personal computers 10 a to 10 d, andprint settings information (such as color or monochrome, the paper typeand size, two-sided or one-sided, the print quality, multi-page printing(such as 2-in-1), and types of postprocessing). If there are multiplesets of print data, the print jobs are stored in the memory 24 as aprint job queue in the order in which the print jobs are received.

In the next step S12, one of the personal computers 10 a to 10 d thattransmitted a print job is specified as the destination point from theID of the user using the corresponding personal computer 10.Subsequently, on the basis of the map of the office 58 and theinformation related to the installation positions of the personalcomputers 10 a to 10 d stored in the database 26, a search is conductedto a find a movement path from the departure point where the imageforming device 18 a is stationed to the destination point, and the pathwith the shortest distance is decided as the movement path.Specifically, the personal computer 10 a is specified as the destinationpoint, and a search is conducted to find and decide a movement path fromthe departure point where the image forming device 18 a is stationed tothe destination point. At this point, as illustrated in FIG. 6, path 1,path 2, and path 3 are found as movement paths, and from among thesepaths 1 to 3, the path with the shortest distance and the least amountof traffic according to data accumulated in the past, namely path 2, isdecided as the movement path.

In the next step S14, sequential movement commands causing the imageforming device 18 a to move along the decided movement path 2 are outputto the image forming device 18 a.

In the next step S16, each print job to be printed at each location istransmitted to the image forming device 18 a.

When the output of the transmitted print job is completed, in the nextstep S18, it is determined whether or not that print job is the lastprint job. If the print job is not the last print job, the flow returnsto step S14, the current position is set as the departure point, andsequential movement commands causing the image forming device 18 a tomove to the location at which to output the next print job (destinationpoint) are output. In step S18, if the print job is determined to be thelast print job, the flow proceeds to step S20, the image forming device18 a returns to the home position 20, and the process ends.

Next, operations of the image forming device 18 a when an obstacle isdetected on a path will be described. FIG. 7 is a flowchart illustratinga control flow of the image forming device 18 a when an obstacle isdetected on a path. FIGS. 8 to 10 are diagrams illustrating how theimage forming device 18 a moves inside the office 58 from a departurepoint, namely the home position 20, to a destination point, namely thedesk of the user of the personal computer 10 a. Note that in FIGS. 8 to10, an X symbol denotes that an obstacle exists on the path.

If any of the sensors 35 a, 35 b, and 35 c detect an obstacle along themovement path decided by the server 12 along which the image formingdevice 18 a is moving (step S100), the image forming device 18 atransmits the detection of the obstacle to the server 12. Specifically,the sensors 35 detect that there is an obstacle on the movement path 2decided by the server 12.

Subsequently, in the server 12, on the basis of the map of the office 58and the information related to the installation position of the personalcomputer 10 a stored in the database 26, it is determined whether or notanother path exists from the current position to the destination point,and whether or not the path is changeable. If it is determined that thepath is changeable, the server 12 transmits an instruction to the imageforming device 18 a to move to the destination path along the otherpath. Specifically, as illustrated in FIG. 8, the server 12 detects path3 as another movement path to the destination point, and transmits aninstruction causing the image forming device 18 a to move along thedetected path 3.

In the image forming device 18 a, if another path is indicated in aninstruction from the server 12 (step S102, Yes), the image formingdevice 18 a starts moving to the destination point using the indicatedother path (step S118). In contrast, if another path is not indicated inan instruction from the server 12 (step S102, No), the image formingdevice 18 a detects the surrounding conditions along the path with thesensors 35 a, 35 b, and 35 c, and determines whether or not space forpassersby along the path may be ensured (step S104).

Subsequently, in the case of determining that enough space for passersbyalong the path may be ensured (step S104, Yes), as illustrated in FIG.9, the image forming device 18 a stands by, moving to the side of thepath where there is less traffic to allow people to pass by, and reportsthe standby location to the user of the image forming device 18 a.Consequently, the image forming device 18 a is able to reach thedestination point faster than in the case of standing by by moving to alocation some distance away from the path, such as by moving to thestandby location 70. Additionally, the user is able to learn the currentposition of the image forming device 18 a. Also, if the image formingdevice 18 a is at a location such as the standby location 70, the imageforming device 18 a stands by at that location, and reports the standbylocation to the user of the image forming device 18 a. Subsequently, theflow proceeds to the next step S116.

On the other hand, in the case of determining that enough space forpassersby may not be ensured (step S104, No), it is determined whetheror not the image forming device 18 a is able to move to the standbylocation 70 (step S108), and if able to move (step S108, Yes), asillustrated in FIG. 10, the image forming device 18 a moves to thestandby location 70 and stands by, and also reports the standby locationto the user of the image forming device 18 a (step S110). At this point,the image forming device 18 a is configured to stand by after moving byadjusting the movement speed to a slower speed than normal while alsodetecting the surrounding state along the way to the standby location 70set up in advance so as to avoid danger nearby (that is, the imageforming device 18 a conducts evasive action). Consequently, the imageforming device 18 a is able to avoid becoming an obstacle itself. Also,if the image forming device 18 a is at the standby location 70, theimage forming device 18 a stands by at that location, and reports thestandby location to the user of the image forming device 18 a.Subsequently, the flow proceeds to the next step S116.

On the other hand, in the case of determining that the image formingdevice 18 a may be unable to move to the standby location 70 (step S108,No), the image forming device 18 a computes the traffic of people andobjects accumulated in the past, and sets a refuge location (step S112).

Subsequently, the image forming device 18 a moves to the set refugelocation, stands by, and reports the standby location to the user of theimage forming device 18 a (step S114).

In other words, if enough space for passersby may not be ensured and theimage forming device 18 a may be unable to move to the standby location70 set up in advance, the image forming device 18 a extracts a spacewhere there is little movement of people and objects on the basis oftraffic information accumulated in the past, and sets the extractedspace as a refuge location to move to (that is, the image forming device18 a conducts an operation of taking refuge). Also, a location where fewpeople pass by or a comparatively safe location may be set as the refugelocation, on the basis of a past movement history.

In addition, if there is no path allowing movement from the departurepoint to the destination point, besides standing by at the standbylocation 70 or at a refuge location, the image forming device 18 a mayalso be configured to select a path on which a dynamic obstacle, such asa person, for example, exists, and move slowly along the selected path.This is because if the obstacle is a person, there is a high probabilitythat the obstacle will be cleared over time. Also, if the obstaclecaused by the person's movement is cleared by having the image formingdevice 18 move slowly, or if a route is acquired as a result of theperson noticing the approaching the image forming device 18 and steppingaside, the image forming device 18 switches back to movement at normalspeed. If the obstacle is not cleared, the image forming device 18 isconfigured to stand by at a location such as the home position 20, thestandby location 70, or a refuge location.

Subsequently, in step S116, it is determined whether or not a path freeof the obstacle exists. If it is determined that a path free of theobstacle does not exist (step S116, No), the flow returns to step S104.If it is determined that a path free of the obstacle exists (step S116,Yes), the image forming device 18 starts moving to the destination pointusing the path free of the obstacle (step S118). At the point in timewhen the path is ensured, the image forming device 18 returns to thenormal route, the movement path is decided (step S12), and the flowproceeds to the next step S14. By moving at normal speed at the point intime when the path is ensured, the image forming device 18 may becontrolled to move to the destination point more quickly.

In addition, the image forming device 18 changes whether the imageforming device 18 is to stand by at the home position 20, the standbylocation 70, or a refuge location, on the basis of information about thesurroundings of the home position 20, and information about the time ofday. Specifically, for example, control is conducted to change thepriority of the home position 20, the standby location 70, and a refugelocation at which to stand by depending on the time of day, such asavoiding the home position 20, the standby location 70, or a refugelocation that receives direct sunlight at a certain time of day, oravoiding the home position 20, the standby location 70, or a refugelocation set up near a place where air blows out, such as by an airconditioner. The image forming device 18 stands by at an optimal homeposition 20, standby location 70, or refuge location depending on thetime of day.

The foregoing exemplary embodiment thus describes a configuration inwhich the image forming device 18 stores information about thesurroundings of the home position 20, the standby location 70, and arefuge location, as well as information about the time of day, andchanges the standby location where the image forming device 18 is tostand by depending on the time of day. However, an exemplary embodimentis not limited thereto. For example, a sensor such as an illuminometermay be installed in each home position 20, standby location 70, and thelike, measurement results from each illuminometer may be transmitted tothe image forming device 18, and the standby location may be changeddepending on the transmitted measurement results. Additionally, thestandby location may also be changed depending on the switching on andoff of a device such as an air conditioner.

Also, the foregoing exemplary embodiment describes a configuration inwhich the image forming device 18 stores information about thesurroundings of the home position 20, the standby location 70, and arefuge location, as well as information about the time of day, andchanges the standby location where the image forming device 18 is tostand by depending on the time of day, but an exemplary embodiment isnot limited thereto. For example, the server 12 may also store theinformation about the surroundings of the home position 20, the standbylocation 70, and a refuge location, as well as information about thetime of day, and control the changing of the standby location where theimage forming device 18 is to be stand by depending on the time of day.

Also, the foregoing exemplary embodiment describes an example in whichthe map of the office 58 or the like and information related to theinstallation position of the personal computer 10 a is stored in thedatabase 26 of the server 12, but an exemplary embodiment is not limitedthereto. For example, the image forming device 18 may also search for amovement path on the basis of a map of the office 58 or the like andinformation related to the installation position of the personalcomputer 10 s stored in the storage device 45, and conduct control tomove from the departure point to the destination point.

Also, the foregoing exemplary embodiment describes an example in whichan obstacle is detected by the sensors 35 of the image forming device18, but an exemplary embodiment is not limited thereto. For example, themonitoring camera 68 may also be configured to detect an obstacle andtransmit information to the image forming device 18, or an obstacle maybe detected by sharing information with another image forming device 18.

Note that in the foregoing exemplary embodiment, the image formingdevice 18 is configured to move to the locations where the personalcomputers 10 a to 10 d are installed, but an exemplary embodiment is notlimited thereto. For example, the image forming device 18 may also moveto a location specified by the user, or the user may be made to carry aposition emitter, and the image forming device 18 may be configured tomove to the location of the position emitter.

In the exemplary embodiment described above, the image forming device 18is given as an example of a service providing device, but an exemplaryembodiment is not limited thereto. The service providing device may beany type of device that moves to provide a service, and an exemplaryembodiment is also applicable to devices such as food and drink servingdevices that move.

The foregoing description of the exemplary embodiment of the presentinvention has been provided for the purposes of illustration anddescription. It is not intended to be exhaustive or to limit theinvention to the precise forms disclosed. Obviously, many modificationsand variations will be apparent to practitioners skilled in the art. Theembodiment was chosen and described in order to best explain theprinciples of the invention and its practical applications, therebyenabling others skilled in the art to understand the invention forvarious embodiments and with the various modifications as are suited tothe particular use contemplated. It is intended that the scope of theinvention be defined by the following claims and their equivalents.

What is claimed is:
 1. A moving device, comprising: a transportationmechanism that moves from a departure point to a destination point; adetector that detects an obstacle existing on a path to the destinationpoint; and a controller that, when the detector detects that theobstacle exists on the path to the destination point, and another pathto the destination point does not exist, controls the transportationmechanism to move to a location that does not impede traffic, and standby.
 2. The moving device according to claim 1, wherein when the detectordetects that the obstacle exists on the path to the destination point,and another path to the destination point does not exist, the controllercontrols the transportation mechanism to move to a preset standbylocation and stand by.
 3. The moving device according to claim 1,wherein when the detector detects that the obstacle exists on the pathto the destination point, and another path to the destination point doesnot exist, the controller controls the transportation mechanism to makespace allowing people to pass by on the current path, and stand by. 4.The moving device according to claim 1, further comprising: a settingunit that sets a refuge location on a basis of traffic informationaccumulated in the past, wherein the controller controls thetransportation mechanism to move to the refuge location set by thesetting unit, and stand by.
 5. The moving device according to claim 4,wherein the setting unit sets the refuge location in an order ofpriority on a basis of at least one of information about surroundingsand time of day.
 6. The moving device according to claim 1, furthercomprising: a selector that, when the detector detects that the obstacleexists on the path to the destination point, and another path to thedestination point does not exist, selects the path in which the obstacleon the path is a dynamic obstacle, wherein the controller controls thetransportation mechanism to move slowly on the path selected by theselector, and after the dynamic obstacle is cleared, move at a normalspeed.
 7. The moving device according to claim 6, wherein if the dynamicobstacle is not cleared within a certain amount of time, the controllercontrols the transportation mechanism to move to a preset standbylocation and stand by.
 8. The moving device according to claim 1,further comprising: a service providing mechanism that provides aservice by moving via the transportation mechanism.
 9. The moving deviceaccording to claim 8, further comprising: a reporting unit that reportsinformation about a standby location to a user who requests a service tobe provided by the service providing mechanism.
 10. A non-transitorycomputer readable medium storing a program causing a computer to executea process for moving, the process comprising: moving from a departurepoint to a destination point; detecting an obstacle existing on a pathto the destination point; and controlling, when the obstacle existing onthe path to the destination point is detected, and another path to thedestination point does not exist, to move to a location that does notimpede traffic, and stand by.
 11. A control system, comprising: atransportation mechanism that moves from a departure point to adestination point; a detector that detects an obstacle existing on apath to the destination point; and a controller that, when the detectordetects that the obstacle exists on the path to the destination point,and another path to the destination point does not exist, controls thetransportation mechanism to move to a location that does not impedetraffic, and stand by.